cmake_minimum_required(VERSION 3.8)
project(hardware_controller)

# Default to C++17
# if(NOT CMAKE_CXX_STANDARD)
#   set(CMAKE_CXX_STANDARD 17)
# endif()

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

# find dependencies
find_package(ament_cmake REQUIRED)
# uncomment the following section in order to fill in
# further dependencies manually.
# find_package(<dependency> REQUIRED)
find_package(rclcpp REQUIRED)
find_package(std_msgs REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(nav_msgs REQUIRED)
find_package(tf2 REQUIRED)
find_package(tf2_ros REQUIRED)
find_package(tf2_geometry_msgs REQUIRED)
find_package(serial REQUIRED)

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  # the following line skips the linter which checks for copyrights
  # comment the line when a copyright and license is added to all source files
  set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # comment the line when this package is in a git repo and when
  # a copyright and license is added to all source files
  set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()

include_directories(
	include
  ${CMAKE_SOURCE_DIR}
)

add_executable(base_controller_node 
  src/serial_parser.cpp
  src/base_controller.cpp
  src/base_controller_node.cpp
)
ament_target_dependencies(base_controller_node 
  rclcpp std_msgs geometry_msgs sensor_msgs nav_msgs
  tf2 tf2_ros tf2_geometry_msgs serial
)

install(TARGETS
base_controller_node

DESTINATION lib/${PROJECT_NAME}
  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)

install(
  DIRECTORY launch config
  DESTINATION share/${PROJECT_NAME}
)

ament_package()
